Merge branch 'develop' into protobuf_update

.circleci/config.yml

@@ -24,7 +24,7 @@ jobs:
             pip install --upgrade setuptools
             cd ml-agents-envs && pip install -e .
             cd ../ml-agents && pip install -e .
-            pip install black pytest-cov==2.6.1 codacy-coverage==1.3.11
+            pip install pre-commit pytest-cov==2.6.1 codacy-coverage==1.3.11
             cd ../gym-unity && pip install -e .
 
       - save_cache:
@@ -44,9 +44,14 @@ jobs:
           name: Check Code Style for ml-agents and gym_unity using black
           command: |
             . venv/bin/activate
-            black --check ml-agents
-            black --check ml-agents-envs
-            black --check gym-unity
+            pre-commit run --show-diff-on-failure --all-files
+
+      - run:
+          name: Verify there are no hidden/missing metafiles.
+          # Renaming files or deleting files can leave metafiles behind that makes Unity very unhappy.
+          command: |
+            . venv/bin/activate
+            python utils/validate_meta_files.py
 
       - store_test_results:
           path: test-reports

.gitignore

@@ -7,7 +7,6 @@
 /UnitySDK/[Uu]nity[Pp]ackage[Mm]anager/
 /UnitySDK/Assets/AssetStoreTools*
 /UnitySDK/Assets/Plugins*
-/UnitySDK/Assets/Gizmos*
 /UnitySDK/Assets/Demonstrations*
 
 # Tensorflow Model Info
@@ -72,6 +71,7 @@
 *.pyc
 *.idea/misc.xml
 *.idea/modules.xml
+*.idea/
 *.iml
 *.cache
 */build/
@@ -95,3 +95,7 @@
 # Ignore PyPi build files.
 dist/
 build/
+
+# Python virtual environment
+venv/
+.mypy_cache/

.pre-commit-config.yaml

@@ -0,0 +1,23 @@
+repos:
+-   repo: https://github.com/python/black
+    rev: '19.3b0'
+    hooks:
+    -   id: black
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: 'v0.701'
+    hooks:
+    -   id: mypy
+        name: mypy-ml-agents
+        files: "ml-agents/.*"
+        args: [--ignore-missing-imports, --disallow-incomplete-defs]
+    -   id: mypy
+        name: mypy-ml-agents-envs
+        files: "ml-agents-envs/.*"
+        # Exclude protobuf files and don't follow them when imported
+        exclude: ".*_pb2.py"
+        # TODO get disallow-incomplete-defs working
+        args: [--ignore-missing-imports, --follow-imports=silent]
+    -   id: mypy
+        name: mypy-gym-unity
+        files: "gym-unity/.*"
+        args: [--ignore-missing-imports, --disallow-incomplete-defs]

CONTRIBUTING.md

@@ -48,6 +48,22 @@ the platform, and provide a unique non-trivial challenge to modern
 machine learning algorithms. Feel free to submit these environments with a
 PR explaining the nature of the environment and task.
 
-## Style Guide
+## Continuous Integration (CI)
 
-When performing changes to the codebase, please ensure that all python code is reformatted using the [black](https://github.com/ambv/black) formatter. For C#, we will soon be requirements for style and formatting.
+We run CircleCI on all PRs; all tests must be passing before the PR is merged.
+
+Several static checks are run on the codebase using the [pre-commit framework](https://pre-commit.com/) during CI. To execute the same checks locally, install `pre-commit` and run `pre-commit run --all-files`. Some hooks (for example, `black`) will output the corrected version of the code; others (like `mypy`) may require more effort to fix.
+
+### Code style
+All python code should be formatted with [`black`](https://github.com/ambv/black). Style and formatting for C# may be enforced later.
+
+### Python type annotations
+We use [`mypy`](http://mypy-lang.org/) to perform static type checking on python code. Currently not all code is annotated but we will increase coverage over time. If you are adding or refactoring code, please
+1. Add type annotations to the new or refactored code.
+2. Make sure that code calling or called by the modified code also has type annotations.
+
+The [type hint cheat sheet](https://mypy.readthedocs.io/en/stable/cheat_sheet_py3.html) provides a good introduction to adding type hints.
+
+## Contributor License Agreements
+
+When you open a pull request, you will be asked to acknolwedge our Contributor License Agreement. We allow both individual contributions and contributions made on behalf of companies. We use an open source tool called CLA assistant. If you have any questions on our CLA, please [submit an issue](https://github.com/Unity-Technologies/ml-agents/issues) or email us at ml-agents@unity3d.com.

UnitySDK/Assets/ML-Agents/Editor/HeuristicBrainEditor.cs

@@ -47,7 +47,7 @@ private static void CheckIsDecision(HeuristicBrain brain)
                 {
                     Debug.LogError(
                         "Instance of " + brain.decisionScript.name + " couldn't be created. " +
-                        "The the script class needs to derive from Decision.");
+                        "The script class needs to derive from Decision.");
                     brain.decisionScript = null;
                 }
             }

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Materials/BlueAgent.mat

@@ -54,6 +54,10 @@ Material:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
+    - _SpecGlossMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
     m_Floats:
     - _BumpScale: 1
     - _Cutoff: 0.5
@@ -74,3 +78,4 @@ Material:
     m_Colors:
     - _Color: {r: 0.10980392, g: 0.6039216, b: 1, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+    - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1}

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Materials/Wall.mat

@@ -54,6 +54,10 @@ Material:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
+    - _SpecGlossMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
     m_Floats:
     - _BumpScale: 1
     - _Cutoff: 0.5
@@ -74,3 +78,4 @@ Material:
     m_Colors:
     - _Color: {r: 0.5, g: 0.5, b: 0.5, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+    - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1}

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception2D.cs

@@ -15,6 +15,15 @@ public class RayPerception2D : RayPerception
 
         /// <summary>
         /// Creates perception vector to be used as part of an observation of an agent.
+        /// Each ray in the rayAngles array adds a sublist of data to the observation.
+        /// The sublist contains the observation data for a single ray. The list is composed of the following:
+        /// 1. A one-hot encoding for detectable objects. For example, if detectableObjects.Length = n, the
+        ///    first n elements of the sublist will be a one-hot encoding of the detectableObject that was hit, or
+        ///    all zeroes otherwise.
+        /// 2. The 'length' element of the sublist will be 1 if the ray missed everything, or 0 if it hit
+        ///    something (detectable or not).
+        /// 3. The 'length+1' element of the sublist will contain the normalised distance to the object hit.
+        /// NOTE: Only objects with tags in the detectableObjects array will have a distance set.
         /// </summary>
         /// <returns>The partial vector observation corresponding to the set of rays</returns>
         /// <param name="rayDistance">Radius of rays</param>

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception3D.cs

@@ -15,6 +15,15 @@ public class RayPerception3D : RayPerception
 
         /// <summary>
         /// Creates perception vector to be used as part of an observation of an agent.
+        /// Each ray in the rayAngles array adds a sublist of data to the observation.
+        /// The sublist contains the observation data for a single ray. The list is composed of the following:
+        /// 1. A one-hot encoding for detectable objects. For example, if detectableObjects.Length = n, the
+        ///    first n elements of the sublist will be a one-hot encoding of the detectableObject that was hit, or
+        ///    all zeroes otherwise.
+        /// 2. The 'length' element of the sublist will be 1 if the ray missed everything, or 0 if it hit
+        ///    something (detectable or not).
+        /// 3. The 'length+1' element of the sublist will contain the normalised distance to the object hit.
+        /// NOTE: Only objects with tags in the detectableObjects array will have a distance set.
         /// </summary>
         /// <returns>The partial vector observation corresponding to the set of rays</returns>
         /// <param name="rayDistance">Radius of rays</param>